A study on juggling tasks

摘要

Discusses robot motion planning in dynamic environment, that is, generation of a motion pattern to attain a working purpose. The authors examine the relation between this redundancy and the dynamic dexterity of robots. Especially the authors focus on 'juggling' as a typical example of such a working purpose(task). To juggle several balls in the gravitational field, the motion of the robot is determined considering the dynamic property of balls. It is shown that a parametric representation of the robot motion makes it easy to generate an appropriate trajectory of the end-effector for 'juggling task'.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>